| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/preconditioner.h" |
| |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| Preconditioner::~Preconditioner() = default; |
| |
| PreconditionerType Preconditioner::PreconditionerForZeroEBlocks( |
| PreconditionerType preconditioner_type) { |
| if (preconditioner_type == SCHUR_JACOBI || |
| preconditioner_type == CLUSTER_JACOBI || |
| preconditioner_type == CLUSTER_TRIDIAGONAL) { |
| return JACOBI; |
| } |
| return preconditioner_type; |
| } |
| |
| SparseMatrixPreconditionerWrapper::SparseMatrixPreconditionerWrapper( |
| const SparseMatrix* matrix, const Preconditioner::Options& options) |
| : matrix_(matrix), options_(options) { |
| CHECK(matrix != nullptr); |
| } |
| |
| SparseMatrixPreconditionerWrapper::~SparseMatrixPreconditionerWrapper() = |
| default; |
| |
| bool SparseMatrixPreconditionerWrapper::UpdateImpl(const SparseMatrix& A, |
| const double* D) { |
| return true; |
| } |
| |
| void SparseMatrixPreconditionerWrapper::RightMultiplyAndAccumulate( |
| const double* x, double* y) const { |
| matrix_->RightMultiplyAndAccumulate( |
| x, y, options_.context, options_.num_threads); |
| } |
| |
| int SparseMatrixPreconditionerWrapper::num_rows() const { |
| return matrix_->num_rows(); |
| } |
| |
| } // namespace ceres::internal |